From 26147c97cf3418dfdc601a4c88ea666912b49e59 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 5 Jun 2017 19:10:04 -0400
Subject: [PATCH] PArameters: don't show usage with ORBSLAM2 parameters if not
 built with it.

---
 corelib/src/Parameters.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/corelib/src/Parameters.cpp b/corelib/src/Parameters.cpp
index c63a6cd8..326c26a3 100644
--- a/corelib/src/Parameters.cpp
+++ b/corelib/src/Parameters.cpp
@@ -646,6 +646,12 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
 					{
 						ignore = true;
 					}
+#endif
+#ifndef RTABMAP_VISO2
+					if(group.compare("OdomORBSLAM2") == 0)
+					{
+						ignore = true;
+					}
 #endif
 					if(!ignore)
 					{